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<div class="title">silhouette based 3D object tracking</div>  </div>
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Classes</h2></td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../dd/d74/classcv_1_1rapid_1_1OLSTracker.html">cv::rapid::OLSTracker</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d8e/classcv_1_1rapid_1_1Rapid.html">cv::rapid::Rapid</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">wrapper around <a class="el" href="../../d4/dc4/group__rapid.html">silhouette based 3D object tracking</a> function for uniform access  <a href="../../d1/d8e/classcv_1_1rapid_1_1Rapid.html#details">More...</a><br/></td></tr>
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<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d48/classcv_1_1rapid_1_1Tracker.html">cv::rapid::Tracker</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Abstract base class for stateful silhouette trackers.  <a href="../../dc/d48/classcv_1_1rapid_1_1Tracker.html#details">More...</a><br/></td></tr>
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Functions</h2></td></tr>
<tr class="memitem:ga6bd49f91628f98e739c6d3e6391c1580"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/dc4/group__rapid.html#ga6bd49f91628f98e739c6d3e6391c1580">cv::rapid::convertCorrespondencies</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cols, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> srcLocations, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> pts2d, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> pts3d=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> mask=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="separator:ga6bd49f91628f98e739c6d3e6391c1580"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga3c33db4e65f6d4dcc8407d74db52db05"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/dc4/group__rapid.html#ga3c33db4e65f6d4dcc8407d74db52db05">cv::rapid::drawCorrespondencies</a> (<a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> bundle, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cols, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> colors=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="separator:ga3c33db4e65f6d4dcc8407d74db52db05"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga670179aac62ded2f049c47c9660fcbc0"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/dc4/group__rapid.html#ga670179aac62ded2f049c47c9660fcbc0">cv::rapid::drawSearchLines</a> (<a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> img, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> locations, const <a class="el" href="../../dc/d84/group__core__basic.html#ga599fe92e910c027be274233eccad7beb">Scalar</a> &amp;color)</td></tr>
<tr class="separator:ga670179aac62ded2f049c47c9660fcbc0"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga477aaaaa9b2e4a8bc70be3632c0c8bcb"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/dc4/group__rapid.html#ga477aaaaa9b2e4a8bc70be3632c0c8bcb">cv::rapid::drawWireframe</a> (<a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> img, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> pts2d, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> tris, const <a class="el" href="../../dc/d84/group__core__basic.html#ga599fe92e910c027be274233eccad7beb">Scalar</a> &amp;color, int type=<a class="el" href="../../d6/d6e/group__imgproc__draw.html#ggaf076ef45de481ac96e0ab3dc2c29a777a5d32eda7017db273a37f158e5b51442a">LINE_8</a>, bool cullBackface=false)</td></tr>
<tr class="separator:ga477aaaaa9b2e4a8bc70be3632c0c8bcb"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga2c20a8316368b0f19f716fb750b463ca"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/dc4/group__rapid.html#ga2c20a8316368b0f19f716fb750b463ca">cv::rapid::extractControlPoints</a> (int num, int len, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> pts3d, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> rvec, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> tvec, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> K, const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;imsize, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> tris, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> ctl2d, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> ctl3d)</td></tr>
<tr class="separator:ga2c20a8316368b0f19f716fb750b463ca"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gae1995e7cb751224f90d07fd05980f03f"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/dc4/group__rapid.html#gae1995e7cb751224f90d07fd05980f03f">cv::rapid::extractLineBundle</a> (int len, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> ctl2d, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> img, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> bundle, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> srcLocations)</td></tr>
<tr class="separator:gae1995e7cb751224f90d07fd05980f03f"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga9e251f260012d7774c6fb48146a84ead"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/dc4/group__rapid.html#ga9e251f260012d7774c6fb48146a84ead">cv::rapid::findCorrespondencies</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> bundle, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> cols, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> response=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="separator:ga9e251f260012d7774c6fb48146a84ead"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga5c95a9129ffe37f0595bc4a8ac40d37c"><td align="right" class="memItemLeft" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/dc4/group__rapid.html#ga5c95a9129ffe37f0595bc4a8ac40d37c">cv::rapid::rapid</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> img, int num, int len, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> pts3d, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> tris, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> K, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> rvec, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> tvec, double *rmsd=0)</td></tr>
<tr class="separator:ga5c95a9129ffe37f0595bc4a8ac40d37c"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<a id="details" name="details"></a><h2 class="groupheader">Detailed Description</h2>
<p>implements "RAPID-a video rate object tracker" <a class="el" href="../../d0/de3/citelist.html#CITEREF_harris1990rapid">[102]</a> with the dynamic control point extraction of <a class="el" href="../../d0/de3/citelist.html#CITEREF_drummond2002real">[60]</a> </p>
<h2 class="groupheader">Function Documentation</h2>
<a id="ga6bd49f91628f98e739c6d3e6391c1580"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga6bd49f91628f98e739c6d3e6391c1580">◆ </a></span>convertCorrespondencies()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::rapid::convertCorrespondencies </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cols</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>srcLocations</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>pts2d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>pts3d</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>mask</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>pts2d, pts3d</td><td>=</td><td>cv.rapid.convertCorrespondencies(</td><td class="paramname">cols, srcLocations[, pts2d[, pts3d[, mask]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../dd/d04/rapid_8hpp.html">opencv2/rapid.hpp</a>&gt;</code></p>
<p>Collect corresponding 2d and 3d points based on correspondencies and mask </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cols</td><td>correspondence-position per line in line-bundle-space </td></tr>
    <tr><td class="paramname">srcLocations</td><td>the source image location </td></tr>
    <tr><td class="paramname">pts2d</td><td>2d points </td></tr>
    <tr><td class="paramname">pts3d</td><td>3d points </td></tr>
    <tr><td class="paramname">mask</td><td>mask containing non-zero values for the elements to be retained </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<a id="ga3c33db4e65f6d4dcc8407d74db52db05"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga3c33db4e65f6d4dcc8407d74db52db05">◆ </a></span>drawCorrespondencies()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::rapid::drawCorrespondencies </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>bundle</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cols</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>colors</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>bundle</td><td>=</td><td>cv.rapid.drawCorrespondencies(</td><td class="paramname">bundle, cols[, colors]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../dd/d04/rapid_8hpp.html">opencv2/rapid.hpp</a>&gt;</code></p>
<p>Debug draw markers of matched correspondences onto a lineBundle </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">bundle</td><td>the lineBundle </td></tr>
    <tr><td class="paramname">cols</td><td>column coordinates in the line bundle </td></tr>
    <tr><td class="paramname">colors</td><td>colors for the markers. Defaults to white. </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<a id="ga670179aac62ded2f049c47c9660fcbc0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga670179aac62ded2f049c47c9660fcbc0">◆ </a></span>drawSearchLines()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::rapid::drawSearchLines </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>img</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>locations</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga599fe92e910c027be274233eccad7beb">Scalar</a> &amp; </td>
          <td class="paramname"><em>color</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>img</td><td>=</td><td>cv.rapid.drawSearchLines(</td><td class="paramname">img, locations, color</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../dd/d04/rapid_8hpp.html">opencv2/rapid.hpp</a>&gt;</code></p>
<p>Debug draw search lines onto an image </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">img</td><td>the output image </td></tr>
    <tr><td class="paramname">locations</td><td>the source locations of a line bundle </td></tr>
    <tr><td class="paramname">color</td><td>the line color </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<a id="ga477aaaaa9b2e4a8bc70be3632c0c8bcb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga477aaaaa9b2e4a8bc70be3632c0c8bcb">◆ </a></span>drawWireframe()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::rapid::drawWireframe </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>img</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>pts2d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>tris</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga599fe92e910c027be274233eccad7beb">Scalar</a> &amp; </td>
          <td class="paramname"><em>color</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>type</em> = <code><a class="el" href="../../d6/d6e/group__imgproc__draw.html#ggaf076ef45de481ac96e0ab3dc2c29a777a5d32eda7017db273a37f158e5b51442a">LINE_8</a></code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool </td>
          <td class="paramname"><em>cullBackface</em> = <code>false</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>img</td><td>=</td><td>cv.rapid.drawWireframe(</td><td class="paramname">img, pts2d, tris, color[, type[, cullBackface]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../dd/d04/rapid_8hpp.html">opencv2/rapid.hpp</a>&gt;</code></p>
<p>Draw a wireframe of a triangle mesh </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">img</td><td>the output image </td></tr>
    <tr><td class="paramname">pts2d</td><td>the 2d points obtained by <a class="el" href="../../d9/d0c/group__calib3d.html#ga1019495a2c8d1743ed5cc23fa0daff8c">projectPoints</a> </td></tr>
    <tr><td class="paramname">tris</td><td>triangle face connectivity </td></tr>
    <tr><td class="paramname">color</td><td>line color </td></tr>
    <tr><td class="paramname">type</td><td>line type. See <a class="el" href="../../d6/d6e/group__imgproc__draw.html#gaf076ef45de481ac96e0ab3dc2c29a777">LineTypes</a>. </td></tr>
    <tr><td class="paramname">cullBackface</td><td>enable back-face culling based on CCW order </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<a id="ga2c20a8316368b0f19f716fb750b463ca"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga2c20a8316368b0f19f716fb750b463ca">◆ </a></span>extractControlPoints()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::rapid::extractControlPoints </td>
          <td>(</td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>num</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>len</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>pts3d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>rvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>tvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>K</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp; </td>
          <td class="paramname"><em>imsize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>tris</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>ctl2d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>ctl3d</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>ctl2d, ctl3d</td><td>=</td><td>cv.rapid.extractControlPoints(</td><td class="paramname">num, len, pts3d, rvec, tvec, K, imsize, tris[, ctl2d[, ctl3d]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../dd/d04/rapid_8hpp.html">opencv2/rapid.hpp</a>&gt;</code></p>
<p>Extract control points from the projected silhouette of a mesh</p>
<p>see <a class="el" href="../../d0/de3/citelist.html#CITEREF_drummond2002real">[60]</a> Sec 2.1, Step b </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">num</td><td>number of control points </td></tr>
    <tr><td class="paramname">len</td><td>search radius (used to restrict the ROI) </td></tr>
    <tr><td class="paramname">pts3d</td><td>the 3D points of the mesh </td></tr>
    <tr><td class="paramname">rvec</td><td>rotation between mesh and camera </td></tr>
    <tr><td class="paramname">tvec</td><td>translation between mesh and camera </td></tr>
    <tr><td class="paramname">K</td><td>camera intrinsic </td></tr>
    <tr><td class="paramname">imsize</td><td>size of the video frame </td></tr>
    <tr><td class="paramname">tris</td><td>triangle face connectivity </td></tr>
    <tr><td class="paramname">ctl2d</td><td>the 2D locations of the control points </td></tr>
    <tr><td class="paramname">ctl3d</td><td>matching 3D points of the mesh </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<a id="gae1995e7cb751224f90d07fd05980f03f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gae1995e7cb751224f90d07fd05980f03f">◆ </a></span>extractLineBundle()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::rapid::extractLineBundle </td>
          <td>(</td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>len</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>ctl2d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>img</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>bundle</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>srcLocations</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>bundle, srcLocations</td><td>=</td><td>cv.rapid.extractLineBundle(</td><td class="paramname">len, ctl2d, img[, bundle[, srcLocations]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../dd/d04/rapid_8hpp.html">opencv2/rapid.hpp</a>&gt;</code></p>
<p>Extract the line bundle from an image </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">len</td><td>the search radius. The bundle will have <code>2*len + 1</code> columns. </td></tr>
    <tr><td class="paramname">ctl2d</td><td>the search lines will be centered at this points and orthogonal to the contour defined by them. The bundle will have as many rows. </td></tr>
    <tr><td class="paramname">img</td><td>the image to read the pixel intensities values from </td></tr>
    <tr><td class="paramname">bundle</td><td>line bundle image with size <code>ctl2d.rows() x (2 * len + 1)</code> and the same type as <code>img</code> </td></tr>
    <tr><td class="paramname">srcLocations</td><td>the source pixel locations of <code>bundle</code> in <code>img</code> as CV_16SC2 </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<a id="ga9e251f260012d7774c6fb48146a84ead"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga9e251f260012d7774c6fb48146a84ead">◆ </a></span>findCorrespondencies()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::rapid::findCorrespondencies </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>bundle</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>cols</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>response</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>cols, response</td><td>=</td><td>cv.rapid.findCorrespondencies(</td><td class="paramname">bundle[, cols[, response]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../dd/d04/rapid_8hpp.html">opencv2/rapid.hpp</a>&gt;</code></p>
<p>Find corresponding image locations by searching for a maximal sobel edge along the search line (a single row in the bundle) </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">bundle</td><td>the line bundle </td></tr>
    <tr><td class="paramname">cols</td><td>correspondence-position per line in line-bundle-space </td></tr>
    <tr><td class="paramname">response</td><td>the sobel response for the selected point </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<a id="ga5c95a9129ffe37f0595bc4a8ac40d37c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga5c95a9129ffe37f0595bc4a8ac40d37c">◆ </a></span>rapid()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">float cv::rapid::rapid </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>img</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>num</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>len</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>pts3d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>tris</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>K</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>rvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>tvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double * </td>
          <td class="paramname"><em>rmsd</em> = <code>0</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, rvec, tvec, rmsd</td><td>=</td><td>cv.rapid.rapid(</td><td class="paramname">img, num, len, pts3d, tris, K, rvec, tvec</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../dd/d04/rapid_8hpp.html">opencv2/rapid.hpp</a>&gt;</code></p>
<p>High level function to execute a single rapid <a class="el" href="../../d0/de3/citelist.html#CITEREF_harris1990rapid">[102]</a> iteration</p>
<ol type="1">
<li><a class="el" href="../../d4/dc4/group__rapid.html#ga2c20a8316368b0f19f716fb750b463ca">extractControlPoints</a></li>
<li><a class="el" href="../../d4/dc4/group__rapid.html#gae1995e7cb751224f90d07fd05980f03f">extractLineBundle</a></li>
<li><a class="el" href="../../d4/dc4/group__rapid.html#ga9e251f260012d7774c6fb48146a84ead">findCorrespondencies</a></li>
<li><a class="el" href="../../d4/dc4/group__rapid.html#ga6bd49f91628f98e739c6d3e6391c1580">convertCorrespondencies</a></li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#ga650ba4d286a96d992f82c3e6dfa525fa">solvePnPRefineLM</a></li>
</ol>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">img</td><td>the video frame </td></tr>
    <tr><td class="paramname">num</td><td>number of search lines </td></tr>
    <tr><td class="paramname">len</td><td>search line radius </td></tr>
    <tr><td class="paramname">pts3d</td><td>the 3D points of the mesh </td></tr>
    <tr><td class="paramname">tris</td><td>triangle face connectivity </td></tr>
    <tr><td class="paramname">K</td><td>camera matrix </td></tr>
    <tr><td class="paramname">rvec</td><td>rotation between mesh and camera. Input values are used as an initial solution. </td></tr>
    <tr><td class="paramname">tvec</td><td>translation between mesh and camera. Input values are used as an initial solution. </td></tr>
    <tr><td class="paramname">rmsd</td><td>the 2d reprojection difference </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>ratio of search lines that could be extracted and matched </dd></dl>
</div>
</div>
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